CN1539124A - Information collection apparatus, informaton collection method, information collection program, recording medium containing information collection program, and information collection system - Google Patents

Information collection apparatus, informaton collection method, information collection program, recording medium containing information collection program, and information collection system Download PDF

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Publication number
CN1539124A
CN1539124A CNA028154908A CN02815490A CN1539124A CN 1539124 A CN1539124 A CN 1539124A CN A028154908 A CNA028154908 A CN A028154908A CN 02815490 A CN02815490 A CN 02815490A CN 1539124 A CN1539124 A CN 1539124A
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China
Prior art keywords
information collection
information
sensor
collection apparatus
main body
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CNA028154908A
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Chinese (zh)
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CN100341033C (en
Inventor
̫�￡��
太田俊二
֮
大八木雅之
山户雅贵
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Omron Corp
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Omron Corp
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B17/00—Fire alarms; Alarms responsive to explosion
    • G08B17/10—Actuation by presence of smoke or gases, e.g. automatic alarm devices for analysing flowing fluid materials by the use of optical means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
    • G08B25/01—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium
    • G08B25/10—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium using wireless transmission systems
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
    • G08B25/14—Central alarm receiver or annunciator arrangements

Abstract

A robot includes a robot sensor for sensing abnormality around the robot, moving means for moving the robot main body, and a movement control unit for controlling the moving means so that the robot main body is moved to a destination determined according to the information sensed by a fixed-position sensor fixed to a predetermined position outside the robot. The moving destination may be determined by the total control unit of the robot main body according to the information from the fixed-position sensors or by a center communicating with the robot according to the information from the fixed-position sensors. Since abnormality is sensed by the fixed-position sensors together with the robot sensor, the fixed-position sensors may have low accuracy obtained at a low cost. That is, by reducing the cost required for means for collecting external information such as the fixed-position sensor, it is possible to provide a monitoring system capable of collecting ambient information (such as abnormality information) without lowering the accuracy.

Description

The recording medium and the Information Collection System of information collection apparatus, formation gathering method, information gathering program, recorded information collection procedure
Technical field
The present invention relates to for example utilizing the information collection apparatus that possesses sensor grade in an imperial examination 1 information collection apparatus, collect in the Information Collection System of the information corresponding, utilize the 2nd information collection apparatus be fixed on the device outside and above-mentioned the 1st information collection apparatus simultaneously and collect information collection apparatus, formation gathering method, the information gathering program of peripheral information, the recording medium and the Information Collection System of recorded information collection procedure with ambient state.
Background technology
So far, in company, shop, house, used by detecting suspicious person's the security system of swarming into crimes such as avoiding theft in the past.This system, the indoor a plurality of fixation of sensor (for example infrared ray sensor) that are provided with in company etc., and (for example security company) managed at the center from the information of each fixation of sensor.This information center of being sent to is gone if fixation of sensor detects unusually (for example having suspicious person to swarm into), and indication is then for example sent to the employee of security company in the center is on the scene them, thereby can be confirmed as early as possible.
But above-mentioned fixation of sensor can only be according to the precision function sensory signal in the fixing on preset range.Therefore, can guarantee to monitor precision hardly.On the other hand, for guaranteeing to monitor precision, also considered to use the method for the high performance fixation of sensor of high precision, when in this case, the required cost of fixation of sensor can increase.
The present invention is just for addressing the above problem the method that is studied out, therefore its purpose is, provide a kind of when reducing the required cost of external information gathering-devices such as fixation of sensor, can under the situation that does not reduce information gathering precision (for example monitoring precision), collect information collection apparatus, formation gathering method, the information gathering program of peripheral information (for example abnormal information), the recording medium and the Information Collection System of recorded information collection procedure.
Summary of the invention
For addressing the above problem, information collection apparatus of the present invention possesses: the 1st information collection apparatus is equipped on apparatus main body and collection and the pairing information of ambient state; And the mobile device that apparatus main body is moved, it is characterized in that, further possesses mobile controller, control described mobile device, make apparatus main body to according to by on the assigned position of apparatus main body outside, fixing 1 and collect the shift position that the information of collecting with the 2nd information collection apparatus of the pairing information of ambient state determines and move at least.
In addition, formation gathering method of the present invention, for addressing the above problem, employing possesses makes the information collection apparatus of the mobile device that moves from device carry out information gathering, it is characterized in that having: make above-mentioned information collection apparatus main body to according to by on the assigned position of apparatus main body outside, fixing 1 and collect the step that move shift position that the information of collecting with the 2nd information collection apparatus of the pairing information of ambient state determines at least; And, make the 1st information collection apparatus that is equipped on described information collection apparatus main body collect step with the pairing information of ambient state in described shift position.
Here, the so-called information corresponding with ambient state comprises for example relevant unusual information and simple peripheral information (comprising non-unusual situation) etc. on every side.
According to above-mentioned formation and method, utilize mobile controller to control mobile device, make apparatus main body move to basis by the shift position that determines in the collected information of the 2nd information collection apparatus of apparatus main body outside.By this control, when apparatus main body moved to above-mentioned shift position, the 1st information collection apparatus just can be collected the information corresponding with ambient state (abnormal information for example) on this shift position.
The decision of the shift position corresponding with the information of the 2nd information collection apparatus collection, for example, the shift position determination device can be set on apparatus main body, thereby determine by this shift position determination device, also can connect into the state that to communicate by letter to the control device of the information of management the 2nd information collection apparatus collection with apparatus main body, thereby be undertaken by this control device.
In addition, as above-mentioned shift position, when the 2nd information collection apparatus of acquisition of information is 1, can consider the position of the 2nd information collection apparatus, and, can consider the position that is determined according to the possible range of the information gathering of these a plurality of the 2nd information collection apparatus and configuration, collection order, mistiming etc. when collecting when the 2nd information collection apparatus of acquisition of information when being a plurality of.
So, in above-mentioned formation and method, use the 2nd information collection apparatus and the 1st information collection apparatus to come acquisition of information by uniting, therefore as the 2nd information collection apparatus, even the parts (for example can only detect N/R sensor) by lower accuracy that can acquisition of information constitute, also can utilize the performance of the 1st information collection apparatus to remedy information gathering precision (for example unusual supervision precision) low of the 2nd information collection apparatus.Thus, adopt the 2nd information collection apparatus of low precision and low price, also can under the situation that precision is reduced, collect information such as unusual on every side.
In order to address the above problem, the Information Collection System that the present invention is correlated with, it is characterized in that, connect the 2nd information collection apparatus of the above-mentioned information collection apparatus of the present invention information corresponding and constitute with fixing at least 1 and collection on the assigned position of the outside of above-mentioned information collection apparatus and ambient state with the state that can communicate.
According to above-mentioned formation, information collection apparatus receives the information (unusual information around for example detecting) of being collected by the 2nd information collection apparatus, thereby information collection apparatus can be the position that benchmark is judged the information gathering object with above-mentioned information, and according to the shift position of this determining positions apparatus main body.Thus, mobile controller can be controlled mobile device, makes apparatus main body move to above-mentioned shift position, thereby the 1st information collection apparatus can be collected on above-mentioned shift position and the pairing information of ambient state.That is, can realize uniting the Information Collection System that uses the 2nd information collection apparatus and the 1st information collection apparatus to come acquisition of information.
For addressing the above problem, the Information Collection System that the present invention is correlated with, it is characterized in that, connected above-mentioned information collection apparatus of the present invention, on the assigned position of the outside of above-mentioned information collection apparatus, fix 1 and collect the 2nd information collection apparatus of the pairing information of ambient state at least, and according to the shift position of the information deciding apparatus main body of collecting in above-mentioned the 2nd information collection apparatus and possess and send the control device that the operation indication makes apparatus main body move to the shift position determination device on this shift position to above-mentioned massaging device they can be communicated.
According to above-mentioned formation, control device receives the information (unusual information around for example detecting) that the 2nd information collection apparatus is collected, thereby the shift position determination device of control device is according to the shift position of above-mentioned information deciding apparatus main body.And the shift position determination device sends the action indication to information collection apparatus, makes apparatus main body move to above-mentioned shift position.Thus, the mobile controller of information collection apparatus can be controlled mobile device, makes apparatus main body move to above-mentioned shift position, thereby can realize collecting the Information Collection System of the information corresponding with ambient state.
Other purposes of the present invention, feature and advantage can be more than you know according to the following stated.And advantage of the present invention is more than you know according to the following explanation meeting of reference accompanying drawing.
Description of drawings
Fig. 1 constitutes the block diagram that roughly constitutes of robot of the surveillance of the Information Collection System of being correlated with as the present invention for expression.
Fig. 2 is the key diagram that roughly constitutes of the above-mentioned surveillance of expression.
Fig. 3 is the key diagram of the pairing detectability of each detected object of the lattice fixation of sensor of the above-mentioned surveillance of expression formation.
Fig. 4 carries the key diagram of the pairing detectability of each detected object of fixedly sensing of sensor for the robot that the above-mentioned robot of expression is carried.
Fig. 5 is the block diagram that roughly constitutes at the center of the sensor of the above-mentioned surveillance of expression formation.
The key diagram of the cartographic information of the ground integral body that Fig. 6 is disposed for the above-mentioned robot of expression.
Fig. 7 is the process flow diagram of the operating process in expression this system when above-mentioned surveillance is passed through the center.
The key diagram of the content that the efferent that Fig. 8 is carried for the above-mentioned robot of expression is handled according to detected object.
Fig. 9 is the process flow diagram of the operating process in expression this system when above-mentioned surveillance is not passed through the center.
Figure 10 is the kind of each fixation of sensor of expression when the suspicious person of attention detection swarms into and the key diagram of allocation position.
Figure 11 is the kind of each fixation of sensor of expression when paying attention to detection of fires and the key diagram of allocation position.
Figure 12 is the kind of each fixation of sensor of expression when paying attention to economy and the key diagram of allocation position.
The key diagram of the detection possible range of each fixation of sensor when Figure 13 is made of the sensor of orientation for each fixation of sensor of expression.
Figure 14 is the key diagram of the space distribution (detecting unusual fixation of sensor and the distribution that does not detect the allocation position of unusual fixation of sensor) of the testing result of each fixation of sensor of expression.
Figure 15 is the distribute key diagram of an example of (expression detection distribution in proper order) of space distribution and the time of the testing result of each fixation of sensor of expression.
Figure 16 is the key diagram of another example of space distribution and the time distribution of the testing result of each fixation of sensor of expression.
Figure 17 is for according to specific from the output valve of each fixation of sensor and represent the key diagram that the position between each fixation of sensor and detected object (sound source) concerns.
Embodiment
For one embodiment of the present invention, describe just as follows according to figure.
(1. system constitutes)
Fig. 2 is the concise and to the point formation of expression as the surveillance of Information Collection System related to the present invention.This surveillance has robot 1 (information collection apparatus), fixation of sensor 2 ..., and center 3 (control device).
Robot 1 is operating function and/or the locomotive function with automatic control, and can carry out the device of various operations according to program.This robot 1 for example, is placed in the place (company, shop, house etc.) that will monitor abnormal conditions.The robot 1 of present embodiment has two kinds of functions of operating function and locomotive function concurrently, thus unusual around can monitoring while moving.Therefore, robot 1 can be called the mobile monitoring robot.The formation of robot 1 will be explained below.
For the formation of this surveillance, the number of robot be one or more can.When adopting a plurality of robot 1, the functional performance of each robot 1 can be identical, also can be different.When adopting a plurality of robot 1, can share monitoring range by each robot 1.And when adopting a plurality of robot 1, each robot 1 is exchange message mutually, thus the information (information that can't detect) that can cover the shortage by the other machines people.
Fixation of sensor 2 ..., be fixed on the assigned position (for example, the indoor wall of company, ceiling etc.) of the outside of robot 1, and detect unusual in the predefined scope.In the present embodiment, as shown in the figure, adopted a plurality of fixation of sensor 2, but adopt one also passable.Utilize the information that detects in each fixation of sensor, by center 3 or directly send to robot 1.
In addition, fixation of sensor 2 can not only be collected unusual information on every side, also has the function of the 2nd information collection apparatus that can collect the pairing information of ambient state (simple peripheral information).
Each fixation of sensor 2 is by constituting of any of sound transducer for example, vibration transducer, thermal source sensor, moving body sensor, smoke transducer, optical sensor, baroceptor, air-temperature sensor, switch sensor, gas sensor or these.Carry out following explanation for these various sensors.
Sound transducer detects having or not of the above sound of certain volume.Vibration transducer detects having or not of to a certain degree above vibration.The thermal source sensor detects the object that also exceeds uniform temperature than infrared ray etc.The moving body sensor utilizes Doppler effect such as ultrasound wave or electromagnetic wave to detect having or not of mobile object.
Smoke transducer detects having or not of smog.Optical sensor detects having or not of to a certain degree above light intensity.Baroceptor detects having or not of to a certain degree above air pressure change.Air-temperature sensor detects to a certain degree above temperature.Switch sensor, switches such as detecting gate and window.Gas sensor detects having or not of inflammable gas.
Here, Fig. 3 is the detectability at each detected object of each fixation of sensor 2 of expression.For example, sound transducer can detect the people and the fire of falling, and for the part of suspicious person, animal, glass fragmentation, buildings burst apart, falling of equipment machine can detect very effectively.Sound transducer waits very big sound for blast, can detect most effectively.On the other hand, for example, the thermal source sensor can effectively detect blast, and to the heating of suspicious person and the people who falls, animal, fire and machinery etc., can detect most effectively.Therefore, as shown in Figure 3, each fixation of sensor 2 has possessed and the pairing detectability of detected object in advance.
In the present embodiment, for fear of the raising of the system cost that adopts a plurality of fixation of sensor to cause,, adopted and to have detected the above-mentioned unusual relatively lower ability that has or not, the sensor that hangs down precision and simple function as each fixation of sensor 2.But each fixation of sensor 2 can be information (for example data of the volume correspondence of the Jian Ceing) sensor of the pairing quantification of output abnormality degree.
Center 3, centralized management are judged unusual having or not based on above-mentioned information, and are sent the action indication according to its judged result to robot 1 from the information of fixation of sensor 2 time.The formation at center 3 will be explained below.
Above-mentioned robot 1 and center 3 connect also and can communicate by communicator 4 and robot controller 5.Fixation of sensor 2 and center 3 then connect also and can communicate by communicator 4 and sensor controller 6.
Communicator 4, can be by for example, 1. wired wiring (comprising fixedly public telephone network), 2. electric wave (comprising the mobile public telephone net), 3. low-power wireless faintness wave, 4. overlapping, 5. light (visible light, infrared ray, laser etc.), 6. hyperacoustic any formation of electric wire.
Particularly, robot 1, preferably with the above-mentioned formation that 2. 3. communicates, and fixation of sensor 2, preferably with the above-mentioned formation that 3. communicates.And center 3 is preferably with the above-mentioned formation that 1. 2. communicates, and robot controller 5 devices and sensor controller 6, then preferably with 1. above-mentioned～formation of 3. communicating.
Robot controller 5 and sensor controller 6 have rotating function in the communication, also have sending the centralized function and the arbitration functions of information.Robot controller 5 and sensor controller 6 are arranged though divide in Fig. 2, constitute 1 controller with two kinds of control function and also are fine.
In addition, even the formation that center 3 and robot 1 directly communicate by communicator 4 by robot controller 5 and fixation of sensor 2 is not fine by the formation that communicator 4 directly communicates with center 3 yet by sensor controller 6 not.And then fixation of sensor 2 communicates with center 3 through other fixation of sensor 2, or fixation of sensor 2 directly do not communicate with robot 1 by center 3, or sensor controller 6 directly and the formations that communicate of robot 1 also be fine.
(the 2. formation of robot)
Then, the formation for above-mentioned robot 1 describes.Fig. 1 is the roughly formation of expression robot 1.Robot 1 as shown in the figure, possesses robot body 11 (apparatus main body) and mobile device 12.
Mobile device 12 can make robot body 11 move or rotates, and is made of for example tire, belt (crawler belt (registered trademark) etc.), mechanical walking devices and their drive unit.When in robot body 11 moving area guide rail being set, be made of roller that mobile device 12 can be rolled on guide rail and drive unit thereof, mobile device 12 makes robot body 11 move along this guide rail.
Robot body 11 is maincenter parts of robot 1, and has carried robot lift-launch sensor 13, sensor control part 14, self-discipline action type sensor 15, mobile control division 16 (mobile controller), efferent 17, output control part 18, Department of Communication Force 19, communication control unit 20, whole control part 21, battery 22.
Robot carries sensor 13, is detection machine human agent 11 unusual sensor on every side, and it can detect unusual on every side in the shift position of the apparatus main body 11 that is moved by mobile device 12.That is, robot carries sensor 13, utilizes by the moving of the robot body 11 of mobile device 12, and can draw the information in various places.And, in the present embodiment,, go into the robot of main body 11 and carry sensor 13 and be called movable sensor so be equipped on this machine because robot body 11 utilizes mobile device 12 to move.
In addition, robot carries sensor 13, has and can not only collect the function that unusual information can also be collected the 1st information collection apparatus of the information corresponding with ambient state (simple peripheral information) on every side.
Robot carries sensor 13, has, for example, imageing sensor 13a, sound transducer 13b, thermal source sensor 13c, air-temperature sensor 13d, gas sensor 13e.Imageing sensor 13a detects its kind when being the size of Measuring Object, and, can also detect a kind of surveillance camera that has or not of this movement of objects.Sound transducer 13b detects its kind when measuring the sound size.Thermal source sensor 13c, the temperature of measurement thermal source.Air-temperature sensor 13d measures temperature.Gas sensor 13e measures its concentration in the time of the kind of detected gas.
Here, Fig. 4 is the detectability corresponding with each detected object of expression robot lift-launch sensor.For example, imageing sensor 13a by the mobile object of detected magnitude such as human body, can detect swarming into of suspicious person.And sound transducer 13b can come detection of fires by detecting burning sound.And then, thermal source sensor 13c by detecting the thermal source near the temperature of body temperature (about 36 ℃), can detect suspicious person, the people who falls and animal, and by detecting the thermal source of high temperature (for example about 50 ℃), can detection of fires, the heating and the blast of machine etc.
Like this, robot carries sensor 13 at aspects such as the function of sensor, performances, can detect the information that can't be detected in detail by fixation of sensor, thus become have powerful, high-precision device.And robot carries sensor 13, even robot body 11 does not move and only by in its locational rotation, and unusual around also can detecting.Therefore, robot carries sensor 13, we can say to have possessed in advance and the pairing detectability that is higher than fixation of sensor 2 of detected object.
Sensor control part 14 when control robot is carried the action of sensor 13, is collected by robot and is carried the information that sensor 13 detects, and be sent to whole control part 21.
Self-discipline action type sensor 15 is the sensors that are used for robot 1 self-discipline action, and is made of obstacle sensor 15a and position-detection sensor 15b.
Obstacle sensor 15a is the device that clear is arranged around the detection machine people 1.Information by obstacle sensor 15a detects is sent to mobile control division 16, and by mobile control division 16, the mobile device Be Controlled, thus can move by avoiding obstacles.
Position-detection sensor 15b, be the device of detection machine people 1 current position, by utilizing for example GPS (Global Positioning System) and PHS (registered trademark: existing position detecting device formation PersonalHandyphone Syetem).The information that is detected by position-detection sensor 15b is sent to whole control part 21 by mobile control division 16, perhaps is sent to center 3 as required.
Mobile control division 16 in the time of as mentioned above according to the information Control mobile device that detected by self-discipline action type sensor 15 12, is controlled mobile device 12 according to the control of whole control part 12.And mobile control division 16 control mobile devices 12 make robot body 11 move according to the information that each fixation of sensor 2 by the outside receives.Thus, robot carries sensor 13 unusual around can detecting in robot body 11 shift position.
Efferent 17 is that detected object (suspicious person, animal, barrier etc.) is exported the handling part of processing.This efferent 17 has manipulater 17a, luminaire 17b, loudspeaker 17c, fire extinguishing agent sprayer 17d, the pigment injection 17e of portion and recording portion 17f.
Manipulater 17a is to be made of interconnective a plurality of merogenesis, can catch object, and make its can be in front and back, up and down, about a kind of robot arm of moving freely.For example, when obstacle sensor 15a detected barrier around the robot 1, this manipulater 17a can remove this barrier.And, utilize manipulater 17a, can make arbitrarily that fixation of sensor 2 moves, also can dispose again, also can be for example to the suspicious person pigment ball of dishing out.
Luminaire 17b is the device that detected object is thrown light on, and is made of for example Halogen lamp LED.Loudspeaker 17c sounds the alarm or warning message to detected object.Fire extinguishing agent sprayer 17d is to fire extinguishing agents such as detected object ejection water or extinguishing fluids.For example when detected object in when burning, utilize the fire extinguishing agent sprayer 17d operation of putting out a fire rapidly.
The pigment injection 17e of portion when detected object for example is suspicious person, sprays pigment to this suspicious person.Thus, though when suspicious person when this position is escaped, also become very eye-catching because of pigment causes suspicious person, become and be easy to so follow the trail of suspicious person.
Recording portion 17f will carry out record as data from the information of each fixation of sensor 2 reception and by the information of robot lift-launch sensor 13 gained.Recording portion 17f can be made of storeies such as hard disk, RAM, ROM, also can be made of the driver to recording medium recording data such as CD-R.
In the efferent 17, luminaire 17b, loudspeaker 17c, fire extinguishing agent sprayer 17d, the pigment injection 17e of portion and recording portion 17f, under the control of whole control part 21 and output control part 18, handle according to the information of gained in information that receives by each fixation of sensor 2 and the robot lift-launch sensor 13.
Output control part 18, under the control of whole control part 21, the action of control efferent 17.
Department of Communication Force 19, be used to carry out with robot 1 outside between the interface of communicating by letter, and constitute by sender 19a and receiver 19b.Sender 19a is sent to center 3 to the information that detects among information of carrying gained in the sensor 13 in robot and the position-detection sensor 15b.Receiver 19b receives the information of gained in each fixation of sensor 2 and from the action indication at center 3 etc.
Communication control unit 20, under the control of whole control part 21, the action of control Department of Communication Force 19.
Whole control part 21 is according to the operation indication from center 3, the action of the each several part of control robot 1.And whole control part 21 is according to the information by each sensor in the robot body 11, the action of the each several part of control robot 1 voluntarily.
Battery 22 is to be used for providing the power supply (accumulator) that drives the required electric power of each part mentioned above to each part mentioned above.
(the 3. formation at center)
Then, the formation to center 3 describes.Fig. 5 is the roughly formation at expression center 3.Center 3 as shown in the figure, has possessed program storage 31, information-storing device 32, Department of Communication Force 33 and CPU (Central Processing Unit) 34.
Program storage 31 has deposited the program that is used to make CPU34 work in.
Information-storing device 32 has write down in the item of being judged unusual time institute's reference by CPU.As such item, the information relevant with fixation of sensor 2 is for example arranged, carry the relevant information of sensor 13, the information relevant, the information relevant and the information relevant with the state of robot with the locomotivity of cartographic information, robot 1 with the detected object of hypothesis with robot.
As the relevant information of fixation of sensor 2, the fixed position of each fixation of sensor 2 is arranged here,, to the detectability (function, precision etc.) of each detected object shown in Figure 3.Carry the information that sensor 13 is correlated with as robot, the detectability (function, precision etc.) of robot as shown in Figure 4 being carried each detected object of sensor 13 is arranged.
The information that the detected object of so-called hypothesis is relevant, be meant to be assumed to be and to carry the detected object that sensor 13 detects by each fixation of sensor 2 and robot, for example refer to the falling and gas leakage etc. of damage, equipment machine of heating, blast, glass fragmentation, the buildings of Fig. 3 and suspicious person shown in Figure 4, the people who falls, animal, fire and machine etc.
Cartographic information is the information of the formation in the map of the ground integral body of representing that robot 1 as shown in Figure 6 is configured and room.As the relevant information of the locomotivity of robot 1, the translational speed, move mode of robot 1 etc. are arranged.And,, have robot 1 to possess the information that robot carries which kind of device of sensor 13 and efferent 17 on earth as the relevant information of the state of robot 1.
Department of Communication Force 33 is to be used to carry out and robot 1 and 2 interfaces of communicating by letter of fixation of sensor, and is made of post a letter 33a of portion and receiving part 33b.From the 33a of portion that posts a letter, send the action indication to robot 1 according to the N/R judged result of having of CPU34.Receiving part 33b receives information that is detected by each fixation of sensor 2 and the information of being carried sensor 13 detections by the robot of robot 1.
CPU34 has based on from the information that detects unusual fixation of sensor 2, the function of the shift position determination device of decision robot body's 11 shift position.For example, when detecting unusual fixation of sensor and be 1, CPU34 is the shift position of the determining positions that detects unusual fixation of sensor 2 for robot body 11, and sends the action indication to robot 1, makes and moves to this shift position.
In addition, CPU34 has based on carried the information that sensor 13 detects by robot, judges the function of the detected object judgment means of detected object.In this case, CPU34 sends the action indication to robot 1, makes and carries out and the pairing processing of judging of detected object.
(4. operation)
Then, the operation in this surveillance is described.This surveillance has the situation that accompanies and do not accompany center 3, therefore, below is divided into each situation, and describes with reference to the cartographic information of Fig. 6.In the cartographic information of Fig. 6, the allocation position of each fixation of sensor 2 is represented with black circle.
(action of system when 4-1. accompanies the center)
Fig. 7 is the motion flow that is illustrated in the surveillance that accompanies center 3 between robot 1 and each fixation of sensor 2.At first, suppose that fixation of sensor 2 (for example sound transducer) has detected very big sound (S1) arbitrarily.So, detecting very, the information of loud noise is sent to center 3 (S2) by fixation of sensor 2.After the CPU34 at center 3 receives above-mentioned information, in the time of the position of the fixation of sensor 2 of affirmation detection sound, send mobile indication to robot 1 and make near this fixation of sensor 2 (S3).That is, when detecting unusual fixation of sensor 2 and be 1, CPU34 be the shift position of robot 1 to the decision of the allocation position of said fixing sensor 2, and sends to move to robot 1 and indicate.
When detecting unusual fixation of sensor 2 when a plurality of, when judging the position of detected object, can be this determining positions robot body 11 shift position from the information of each fixation of sensor 2.Then narration afterwards of determining method for this situation.
After above-mentioned indication is received by robot 1, according to the control of mobile control division 13, drive mobile device 12 and move, and order about each sensor that robot carries sensor 13, collect and unusual relevant information (S4) to above-mentioned fixation of sensor 2.Robot carries the information of each sensor of sensor 13, is sent to center 3 (S5).At this moment, the image information that draws in imageing sensor 13a no matter detected object is what, all is sent to center 3, is recorded in recording portion 17f simultaneously.
The CPU34 at center 3 carries the information that sensor 13 is detected based on robot, judges detected object be what (S6).Robot carries the detectability of sensor 13, as shown in Figure 4, is better than fixation of sensor 2, and therefore the testing result of only being carried in the sensor 13 by robot just can roughly be determined detected object.
For example, for the heating and the blast of machine etc., as shown in Figure 4, only carry the thermal source sensor 13c of sensor 13 and air-temperature sensor 13d and can't distinguish and detect these by robot.
In this case, CPU34 carries the information both sides that sensor 13 detects based on information and the robot that each fixation of sensor 2 detects, and can judge detected object and be what.Specifically as described below.
CPU34, for example, the detectability of each fixation of sensor 2 (◎, zero, △) and each detected object, are added up to each detected object detecting counting of unusual fixation of sensor 2 gained corresponding the time to count, thus the possibility order of giving detected object.And CPU34 comprehensively judges to determine detected object to this total result of carrying sensor 13 gained with robot that counts.Like this, information and the robot information both sides of carrying sensor 13 gained of CPU34 by utilizing each fixation of sensor 2 gained can determine detected object exactly.
Then, CPU34 as shown in Figure 8, sends the action indication to robot 1, makes the detected object of determining is handled (S7) accordingly.Thus, robot 1 carries out the action (S8) that is instructed to.
More specifically say, when judging detected object, sound the alarm or warning information from loudspeaker 17c for for example suspicious person and animal, and by luminaire 17b to the detected object illumination beam.Particularly, when suspicious person, the 17e of portion ejects pigment to suspicious person by the pigment injection.
In addition, be the man-hour of for example falling, sound or provide communicator (for example mobile phone) to this person to this person by loudspeaker 17c when judging detected object.And when judging detected object for fire for example, to this place ejection water or extinguishing fluid, or another robot 1 with fire-extinguishing function concurrently rushes to the scene by fire extinguishing agent sprayer 17d.And, when detected object is the falling and gas when leaking of the bursting apart of heating, blast, glass fragmentation, buildings (all and part burst apart), equipment machine of fire, machine etc., communicate with indoor fire prevention system.Thus, when fire, fire window can be closed, and gas is prevented from, and air hole and smoke evacuation system move.And when heating such as machine, the operation of this machine just can stop.
When CPU34 sends aforesaid action indication to robot 1, can also unusual information be arranged, thereby make employee's affirmation abnormal conditions that are on the scene to employee's circular of the company of this surveillance of management.
As mentioned above, in this surveillance robot body 11 is moved to according to the shift position from the information decision that detects unusual fixation of sensor, make that carrying sensor 13 in this shift position by robot detects unusual, therefore as fixation of sensor 2, even constitute, also can remedy the low of supervision precision that fixation of sensor 2 causes by the performance that robot carries sensor 13 by the parts that only can detect N/R relatively low price, low precision.
Promptly, even in the time of only can't judging detected object by the precision of fixation of sensor 2, as long as based on the position of roughly determining detected object from the information of fixation of sensor 2, detect by carrying 13 pairs of detected objects of sensor detector in robot body 11 shift position later on, also can carry the information judgement detected object that sensor 13 detects according to this robot by robot.
Therefore, so use fixation of sensor 2 and robot to carry sensor 13 to detect unusually by uniting, thus can do not reduce around monitoring under the situation that monitors precision unusually.And, also we can say to access effectively and cheaply information.
That is, the present invention is carried sensor 13 both mutual side informations by one or more fixation of sensor 2 that can't move voluntarily and the robot that is equipped in the robot 1 that can move voluntarily as required, detects unusual purpose on every side thereby reach.
In addition, when between robot 1 and fixation of sensor 2, accompanying center 3, as long as the decision of shift position of robot 1 and the judgement of detected object are carried out in center 3, therefore, thereby alleviated the control burden of whole control part 21 even not possess this function also passable for the whole control part 21 of robot 1.
In addition, the detected object that the CPU34 at 17 pairs of centers 3 of efferent of robot 1 judges is handled accordingly, therefore can be suppressed to Min. to the harm that takes place to cause unusually.
(action of 4-2, the system when not accompanying the center)
Fig. 9 is illustrated in the surveillance that does not accompany center 3 between robot 1 and the fixation of sensor 2, that is, and and the motion flow in the surveillance that fixation of sensor 2 and robot 1 directly communicate.In this case, when the whole control part 21 of robot 1 has based on the function of the shift position determination device of the shift position that determines robot body 11 from the information that detects unusual fixation of sensor 2, also have based on robot and carry the information that sensor 13 detects and judge the function of the detected object judgment means of detected object.
At first, suppose that fixation of sensor 2 (for example sound transducer) detects very big sound (S11) arbitrarily.So, detect the information of very big sound, be sent to robot 1 (S12) from fixation of sensor 2.Received the whole control part 21 of the robot 1 of above-mentioned information, when the determining positions of the fixation of sensor 2 that detects sound is robot body 11 shift position, control mobile control division 16 drives mobile device 12 and makes robot body 11 move to above-mentioned shift position (S13).Robot carries each sensor of sensor 13, collects in this shift position and relevant information (S14) unusually on every side.
Whole control part 21 is based on the information that above-mentioned each sensor detected, and judges detected object be what (S15).At this moment, whole control part 21 is identical with the situation of 4-1, and the information both sides that information that can be by utilizing each fixation of sensor 2 gained and robot carry sensor 13 gained determine detected object.
Then, whole control part 21, shown in Figure 8, the each several part of control robot main body 11 (for example efferent 17 and Department of Communication Force 19) makes the detected object of determining is located (S16) accordingly.Thus, robot body 11 each several part is carried out the action (S17) of content described in the 4-1.
As mentioned above, even between robot 1 and fixation of sensor 2, do not accompany in the surveillance at center 3, also can use fixation of sensor 2 and robot lift-launch sensor 13 to detect unusually by uniting, therefore identical with the above-mentioned situation that accompanies center 3, when can reduce the desired cost of fixation of sensor 2, do not reducing unusual around monitoring under the situation that monitors precision.
Particularly, under the situation of this surveillance, can under the situation that does not accompany center 3, realize surveillance, formation that therefore can simplified system.
In above narration, use robot 1 and fixation of sensor 2 to detect unusual surveillance on every side to describe for uniting, but the invention is not restricted to this surveillance.For example, not only carry sensor 13 and detect on every side unusually with fixation of sensor 2 for robot, and for the situation of collecting the information (simple peripheral information) corresponding with ambient state, also applicable the present invention.
Promptly, if use robot lift-launch sensor 13 and fixation of sensor 2 to collect the formation of peripheral information according to uniting, as fixation of sensor 2, even the parts by lower accuracy that can acquisition of information constitute, also can remedy the low of information gathering precision that fixation of sensor 2 causes by the performance that robot carries sensor 13.Thus, even adopt the fixation of sensor of low precision and low price, also can constitute and not reduce the Information Collection System of collecting peripheral information under the state of precision.
More than, enumerated the robot that is equipped on robot as the 1st information collection apparatus of collecting the information corresponding and carried the example of sensor 13, but be not limited to the lift-launch of robot 1 with ambient state.
The allocation position of each fixation of sensor (5. about)
, more than, do not specially refer to the allocation position of each fixation of sensor 2, but can select the type of each fixation of sensor 2, thereby be configured yet according to the desired cost of object and system of emphasis detection.
Figure 10 is for representing for example type and the allocation position of each fixation of sensor 2 when emphasis detects swarming into of suspicious person.As shown in the drawing, there is not the place configure sound sensor of sound in the warehouse etc. usually, the place that the possibility that suspicious person such as passageway swarms into is very high then disposes the thermal source sensor.And, suspicious persons such as closet can be mobile place configuration vibration transducer, the pace up and down wider place configuration moving body sensor of possibility of suspicious person, deploy switch sensor then on door and the window.
In addition, Figure 11 is for representing for example type and the allocation position of each fixation of sensor 2 when the emphasis detection of fires.As shown in the drawing, dispose the thermal source sensor in the place that can see very wide scope, becoming the place configuration smoke transducer of smoke path, then dispose air-temperature sensor in places such as machine chamber.
Like this, each fixation of sensor 2 is set, can detects exactly and want the detected object that detects by selecting the type corresponding and disposing with testing goal (paying attention to the detection of which detected object).
In addition, Figure 12 is for representing for example type and the allocation position of each fixation of sensor 2 when paying attention to economy.As shown in the drawing, the object range that can detect is very wide, has therefore disposed a plurality of cheap sound transducers.And, on critical positions, disposed the thermal source sensor that can detect the object in the very wide scope equally.Like this by selecting each fixation of sensor 2 to be configured, can suppress whole fixation of sensor 2 desired costs and monitor.
(the 6. determining method of shift position)
Then, describe for determining method when the shift position that detects unusual fixation of sensor 2 robot 1 when a plurality of.By making robot 1 move to the shift position that is determined by this determining method, in this shift position, robot carries sensor 13 and can detect detected object exactly.The decision of the shift position of robot 1 can be undertaken by the CPU34 at center 3, also can be undertaken by the whole control part 21 of robot 1.
(each fixation of sensor of 6-1. has direction-sense situation)
Each fixation of sensor 2 for example has direction-sense sensor when constituting by directional microphone etc., and as shown in figure 13, the detectable scope of each fixation of sensor 2 is limited respectively.At this moment, but if the sensing range that detects unusual fixation of sensor 2 is overlapped onto on the plane, can think that then most possibly there is detected object in geometric center of gravity in the repeat region.
Therefore, but CPU34 or whole control part 21 are judged as the center of gravity of the repeat region of the sensing range that detects each unusual fixation of sensor 2 position of detected object, and by above-mentioned zone or the decision of above-mentioned center of gravity are the shift position, robot is a target when moving with above-mentioned shift position, and robot carries sensor 13 can detect detected object exactly.
(6-2. only utilizes the situation of space distribution of the testing result of each fixation of sensor)
Suppose that each fixation of sensor 2 that is made of for example sound transducer and thermal source sensor is configured on the white circle and the black position of enclosing of Figure 14.White circle expression does not detect the position of unusual fixation of sensor 2, and black circle expression detects the position of unusual fixation of sensor 2.
In this case, consideration will connect the bowlder of the straight line of black circle as string, can think most possibly to have detected object in the heart in this circle geometric.Therefore, the center that CPU34 or whole control part 21 promptly includes only the circle that detects each unusual fixation of sensor 2 to the center that detects the space distribution of each unusual fixation of sensor 2 is judged as the position of detected object, and by being this determining positions the shift position, robot body 11 is a target when moving with above-mentioned shift position, and robot carries sensor 13 can detect detected object exactly.
(situation that the space distribution of the testing result of each fixation of sensor of 6-3. and time lapse together gradually change)
Suppose that each fixation of sensor 2 is made of for example air-temperature sensor and smoke transducer, and be configured on the Bai Quan position of Figure 15.Numeral in the white circle detects unusual order.
For example, flare during breaking out of fire and smog slowly diffuse into roughly concentrically ringed shape as time goes by.Therefore, the space distribution of the testing result of each fixation of sensor 2 also gradually changes with the passing of time and together.Therefore, in this case, CPU34 or whole control part 21 are determined the position of detected object based on the abnormality detection of fixation of sensor 2 order and mistiming, and are this determining positions robot body 11 shift position.
According to this method, even when the space distribution of the testing result of fixation of sensor 2 passs in time and slowly changes, also can roughly determine the position of detected object, therefore robot body 11 is a target when moving with above-mentioned shift position, and robot carries sensor 13 can detect detected object exactly.
(situation that the space distribution of the testing result of each fixation of sensor of 6-4. passs in time and changes to a direction)
Suppose that each fixation of sensor 2 is made of for example thermal source sensor, and be configured on the Bai Quan position of Figure 16.Numeral in the white circle detects unusual order.
For example, if indoorly swarmed into suspicious person and move to a direction, the space distribution of testing result that detects this suspicious person's fixation of sensor so passs in time and changes to a direction.Therefore, in this case, CPU34 or whole control part 21 are based on the abnormality detection order and the mistiming of fixation of sensor 2, in the time of the moving direction of supposition detected object and translational speed, infer the position of the detected object after the stipulated time, thereby be this determining positions robot body 11 shift position.
According to this method, even pass in time and when a direction changes in the space distribution that detects unusual fixation of sensor 2, also can infer the position of the detected object after the stipulated time, therefore robot body 11 is a target when moving with this position after the stipulated time, and robot carries sensor 13 can detect detected object exactly.
(data conditions that each fixation of sensor output of 6-5. quantizes)
Generally, as the volume of the data that quantize, be inversely proportional to 2 powers of the distance of distance source of sound.Therefore, when each fixation of sensor 2 is made of the sound transducer of output volume, can obtain the ratio of distance based on the volume of each fixation of sensor 2 output from each fixation of sensor to source of sound.
Here, Figure 17 is be described corresponding with radius of a circle of ratio of the distance from each fixation of sensor 2 to source of sound.CPU34 or whole control part 21, obtain to the ratio of the distance of source of sound according to each fixation of sensor 2 detected volume as mentioned above, and for each fixation of sensor 2, to be defined as position with the roughly balanced position (center of the lap of each circle) of the ratio of above-mentioned distance, and be robot body 11 shift position this determining positions as the source of sound of detected object.Thus, robot body 11 is a target when moving with this position, and robot carries sensor 13 can detect detected object exactly.
(7. another example of information collection apparatus)
More than, be illustrated for the example that has adopted robot 1 in the information collection apparatus, but be not limited to robot 1 with manipulater function.That is,,, just can constitute information collection apparatus of the present invention so long as have the end device of sensor function even do not possess manipulater 17a as robot 1.
In addition, more than for mobile device 12 robot body 11 is moved example be illustrated, even but mobile device 12 does not change robot body 11 position, and by rotary machine human agent 11, also can reach purpose of the present invention.
Promptly, mobile device 12 had to make the function of the whirligig of robot body's 11 rotations, promptly robot 1 is disposed at and detects unusual ground and indoor certain and detect when unusual on every side, make according to the position that detects the detected object that information determined of unusual fixation of sensor 2 to be positioned at the sensing range that robot carries sensor 13 by fixation of sensor 2.
The decision of detected object position can be based on from the information that detects unusual fixation of sensor 2, is undertaken by the whole control part 21 of robot 1 or the CPU34 at center 3.When CPU34 determines the position of detected object, send the action indication from CPU34 to robot 1, rotary machine human agent 11, thus make this position be positioned at the sensing range that robot carries sensor 13.
As mentioned above, under the control of whole control part 21 or CPU34, by by mobile device 12 rotary machine human agents 11, make the position of detected object be positioned at the sensing range that robot carries sensor 13, so robot lift-launch sensor 13 can detect the detected object in sensing range exactly.
Therefore, even this formation, also use fixation of sensor 2 and robot lift-launch sensor 13 to detect unusually by uniting, therefore be made of the parts that can only detect N/R lower accuracy as fixation of sensor 2, the performance of carrying sensor 13 by robot also can remedy the low of the supervision precision that caused by fixation of sensor 2.Its result in the above-described configuration, in the time of the desired cost of the fixation of sensor 2 of also being reduced, can monitor unusual effect of the present invention on every side not reducing under the situation that monitors precision.
(8. program and recording medium)
More than Shuo Ming robot 1 and the processing in the center 3 can be realized by program.This program is recorded in the recording medium that can be read by computing machine.In the present invention, as this recording medium, can be not shown storer (for example ROM) required when in robot 1, handling and the program storage 31 in the center 3, though it is not shown, but also can the setting program readout device as the external record device, and by recording medium is inserted wherein and the program medium that can read.
In any case above-mentioned, institute's program stored can be passed through the access of microprocessor (not shown) and carries out, and carries out this program by program being downloaded to not shown program recording areas after also can reading program stored.In this case, the program that is used for downloading is stored in agent set in advance.
Here, the said procedure medium be can with body portion from recording medium, also can be card series such as the CD series that comprises CDs such as disk such as tape series, floppy disk or hard disks such as tape and magnetic tape cassette and CD-ROM/MO/MD/DVD, IC-card (comprising storage card)/optical card or mask ROM, EPROM, EEPROM, stored program regularly media such as semiconductor memory such as ROM fast.
In addition, in the present invention, owing to constitute the system that can be connected, so also can be the medium of memorying data flow program, with can be from the communication network option program with the communication network that comprises internet.And when like this under the communication network during in program, its program that is used to download can be stored in agent set in advance or install from other recording mediums.
Being not limited to program as the content that is stored in recording medium, also can be data.
As mentioned above, Information Collection System of the present invention is fixed 1 and the 2nd information collection apparatus of collecting the pairing information of ambient state at least and is linked together and can communicate with the information collection apparatus of the invention described above and on the assigned position of the outside of above-mentioned information collection apparatus.
In addition, Information Collection System of the present invention can be fixed 1 and collect the 2nd information collection apparatus of the pairing information of ambient state and possess to decide the shift position of apparatus main body and send control device that the action indication makes apparatus main body move to the shift position determination device of this shift position to above-mentioned information collection apparatus based on the collected information of above-mentioned the 2nd information collection apparatus and link together and can communicate at least with the information collection apparatus of the invention described above, on the assigned position of the outside of above-mentioned information collection apparatus.
In addition, in the Information Collection System of the present invention, above-mentioned the 2nd information collection apparatus also can be a unusual fixation of sensor around detecting.
According to above-mentioned formation, by uniting use as the fixation of sensor of the 2nd information collection apparatus and the 1st information collection apparatus of information collection apparatus, can be unusual surveillance configuration information collection system around monitoring.
In addition, in the Information Collection System of the present invention, when detecting unusual fixation of sensor and be 1, the shift position determination device of above-mentioned control device can be the shift position to the decision of the allocation position of this fixation of sensor.
When detecting unusual fixation of sensor and being 1, can think that information gathering object (detected object) is just near this fixation of sensor.In the above-described configuration, utilize the shift position determination device, the allocation position decision that detects unusual fixation of sensor is the shift position, therefore when information collection apparatus when move above-mentioned shift position, apparatus main body is positioned near the detected object possibly, thereby the 1st information collection apparatus can detect above-mentioned detected object exactly.
In addition, in the Information Collection System of the present invention, when to detect unusual fixation of sensor be a plurality of, but the shift position determination device of above-mentioned control device can be the shift position to the decision of the lap of the sensing range of this fixation of sensor.
According to above-mentioned formation, utilize the shift position determination device, but the decision of the lap of the sensing range that detects unusual a plurality of fixation of sensor is the shift position.Thus, when information collection apparatus is a target when moving with above-mentioned shift position, the 1st information collection apparatus can detect detected object exactly.
In the determining method of this shift position, a plurality of fixation of sensor have direction-sense sensor by for example directional microphone etc. and constitute, thereby but very effective under the confined situation respectively in the sensing range of fixation of sensor.
In addition, in the Information Collection System that the present invention is correlated with, when to detect unusual fixation of sensor be a plurality of, the center decision of the circle that only comprises this fixation of sensor during the shift position determination device of above-mentioned control device can distribute 2 dimension configurations of this fixation of sensor was the shift position.
When to detect unusual fixation of sensor be a plurality of, when the 2 dimension configurations of considering fixation of sensor distribute, in the circle that only comprises these a plurality of fixation of sensor, exist the possibility of detected object very high in the heart.In the above-described configuration, be the shift position by the shift position determination device only comprising a plurality of center decisions that detect the circle of unusual fixation of sensor, therefore when information collection apparatus be target when moving with above-mentioned shift position, the 1st information collection apparatus can detect detected object exactly.
In addition, in the Information Collection System that the present invention is correlated with, when to detect unusual fixation of sensor be a plurality of, the shift position determination device of above-mentioned control device can be the output valve that corresponding intensity of anomaly changes based on the output valve of this fixation of sensor, obtain the distance of each fixation of sensor to detected object, judge the position of detected object, thereby be this determining positions the shift position of apparatus main body.
According to above-mentioned formation, utilize the shift position device, based on the output valve that changes from the corresponding intensity of anomaly that detects unusual a plurality of fixation of sensor outputs, judge the position of detected object.For example, when thereby fixation of sensor is when detecting the sound transducer of sound output volume, because 2 powers of the distance of volume and source of sound are inversely proportional to, so can be based on the volume of fixation of sensor output, obtain each fixation of sensor to ratio as the distance of the source of sound of detected object, and by the position of this ratio in judgement detected object.
Therefore, owing to utilize the shift position determination device, to be the shift position of information collection apparatus as the determining positions of the above-mentioned detected object of judging, thus when information collection apparatus be target when moving with above-mentioned shift position, the 1st information collection apparatus can detect detected object exactly.
In addition, in the Information Collection System of the present invention, above-mentioned control device also can further possess, and the information of collecting based on the 1st information collection apparatus of above-mentioned information collection apparatus is judged the detected object judgment means of the detected object of said fixing sensor.
According to above-mentioned formation, utilize detected object judgment means at control device, judge that based on the information that the 1st information collection apparatus detects detected object is what, so information collection apparatus need not to possess and the corresponding device of above-mentioned detected object judgment means.Its result can simplify the formation of information collection apparatus.
In addition, in the Information Collection System that the present invention is correlated with, above-mentioned control device also can further possess, and the information of collecting based on the 1st information collection apparatus of above-mentioned information collection apparatus and the information of said fixing sensor are judged the detected object judgment means of said fixing detected object.
According to above-mentioned formation, utilize the detected object judgment means, judge detected object based on the information of the 1st information collection apparatus collection and the information of fixation of sensor detection, therefore, for example when only according to the information of the 1st information collection apparatus be difficult to judge, when determining detected object, consider the information that fixation of sensor detects, still can judge detected object exactly.
In addition, in the Information Collection System that the present invention is correlated with, above-mentioned information collection apparatus also can further possess, and carries out the treating apparatus of the pairing processing of detected object judged with above-mentioned detected object judgment means.
According to above-mentioned formation,, can be undertaken by the treating apparatus of information collection apparatus with the pairing processing of detected object that the detected object judgment means of control device is judged.Here, have as the processing of corresponding detected object, for example, detected object is if suspicious person, the treating apparatus processing such as sound or ejection pigment that just give the alarm, and detected object is if fire, treating apparatus just sprays processing such as extinguishing fluid or water.Therefore, detected object is carried out respective handling (to suspicious person's deterrence and fire extinguishing action fast), can be suppressed to Min. the unusual harm that causes takes place by this.
In addition, in the Information Collection System of the present invention, when the said fixing sensor is made of polytype a plurality of sensors, above-mentioned detected object judgment means is at each detected object, the detectability of fixation of sensor with count corresponding the time, according to detecting counting that unusual fixation of sensor draws at each detected object accumulative total, and the information judgement detected object that obtains based on this cumulative points and the 1st information collection apparatus.
According to above-mentioned formation, when the information both sides of information that adopts the 1st information collection apparatus and fixation of sensor judged detected object, the detected object judgment means was considered the detectability of each fixation of sensor and is judged detected object.Thus, even the detectability of each fixation of sensor is uneven with detected object, also can consider this unbalanced and judge detected object, thereby can improve the judgement precision of detected object.
In addition, in the Information Collection System of the present invention, the said fixing sensor is provided with a plurality of the time, also can select type and configuration to be provided with according to testing goal.
According to above-mentioned formation, a plurality of fixation of sensor when selecting its type, select its configuration to be provided with according to testing goal according to testing goal (paying attention to the detection of which kind of detected object).Thus, can detect exactly by each fixation of sensor and want the detected object that detects.
In addition, information collection apparatus of the present invention is the information collection apparatus that possesses the 1st information collection apparatus that is equipped on apparatus main body and collection and the pairing information of ambient state, and further possess, when at least 1 the 2nd information collection apparatus on the assigned position that is fixed in the apparatus main body outside is collected with the pairing information of ambient state, according to the whirligig of the collected information rotation said apparatus main body of above-mentioned the 2nd information collection apparatus.
According to above-mentioned formation, according to the information (for example information of abnormality detection) from the 2nd information collection apparatus, apparatus main body is rotated by whirligig.Thus, for example, if make detected object in the information gathering scope of above-mentioned the 1st information collection apparatus the apparatus main body rotation, the 1st information collection apparatus can be collected the relevant information of above-mentioned detected object exactly.
Determining of detected object position, for example, the determining positions device can be set on apparatus main body and be undertaken by this determining positions device, also the control device of the information that can collect management the 2nd information collection apparatus is connected with the state that can communicate with apparatus main body and is undertaken by this control device.
In addition, position as above-mentioned detected object, when the 2nd information collection apparatus of acquisition of information (detected unusual) is 1, can roughly consider the position of the 2nd information collection apparatus, and when the 2nd information collection apparatus of acquisition of information when being a plurality of, but can consider the position of the detected object determined based on the acquisition of information scope of these a plurality of the 2nd information collection apparatus and configuration, collection order, mistiming etc. when collecting.
Like this, in the above-mentioned formation, use the 2nd information collection apparatus and the 1st information collection apparatus to come acquisition of information by uniting, therefore as the 2nd information collection apparatus, even the parts (for example can only detect N/R sensor) by lower accuracy that can acquisition of information constitute, also can remedy the low of information gathering precision (for example unusual supervision precision) that the 2nd information collection apparatus causes by the performance of the 1st information collection apparatus.Thus, even adopt the 2nd information collection apparatus of low precision and low price, also can under the situation that does not reduce precision, collect information such as unusual on every side.
In addition, Information Collection System of the present invention also can be fixed 1 and collect to be connected with the 2nd information collection apparatus of the pairing information of ambient state and make it possible to communicate at least above-mentioned information collection apparatus and at the assigned position of above-mentioned information collection apparatus outside.
According to above-mentioned formation, the information (for example abnormality detection information) that the 2nd information collection apparatus is collected is received by information collection apparatus, and information collection apparatus serves as the position that detected object is judged on the basis with above-mentioned information, thereby whirligig can make the apparatus main body rotation according to the position of this detected object.Thus, can realize uniting use the 2nd information collection apparatus and the 1st information collection apparatus and collect the Information Collection System of peripheral information.
In addition, in the Information Collection System of the present invention, also can fix 1 and collect with the 2nd information collection apparatus of the pairing information of ambient state, send the control device that information that the action indication makes the whirligig of above-mentioned information collection apparatus collect according to above-mentioned the 2nd information collection apparatus is rotated apparatus main body to above-mentioned information collection apparatus and be connected also and can communicate at least above-mentioned information collection apparatus, on the assigned position of above-mentioned gathering-device outside.
According to above-mentioned formation, control device sends action indication to information collection apparatus, and the information (for example information of abnormality detection) that makes the whirligig of above-mentioned information collection apparatus collect according to above-mentioned the 2nd information collection apparatus is rotated apparatus main body.Thus, use the 2nd information collection apparatus and the 1st information collection apparatus, can realize collecting the Information Collection System of peripheral information by uniting.
When above-mentioned the 2nd information collection apparatus was made of fixation of sensor, information collection apparatus of the present invention also can be following formation.
That is, when detecting unusual fixation of sensor and be 1, information collection apparatus of the present invention also can further possess, and the decision of the allocation position of this fixation of sensor is the shift position determination device of shift position.
In addition, when to detect unusual fixation of sensor be a plurality of, information collection apparatus of the present invention can further possess, but the decision of the lap of the sensing range of this each fixation of sensor is the shift position determination device of shift position.
In addition, when to detect unusual fixation of sensor be a plurality of, information collection apparatus of the present invention can further possess, and the center decision that only comprises the circle of this each fixation of sensor during 2 dimension configurations of each fixation of sensor are distributed is the shift position determination device of shift position.
In addition, when to detect unusual fixation of sensor be a plurality of, information collection apparatus of the present invention can further possess, the output valve that promptly changes based on the output valve of this each fixation of sensor with intensity of anomaly, thus obtain that each fixation of sensor to the distance of detected object is judged the position of detected object and be this determining positions the shift position device of the shift position of apparatus main body.
In addition, information collection apparatus of the present invention can also further possess, based on the information that the 1st information collection apparatus is collected, judge the detected object judgment means of the detected detected object of fixation of sensor and the treating apparatus that the detected object that above-mentioned detected object judgment means is judged is carried out respective handling.
In addition, information collection apparatus of the present invention can further possess, and the information of collecting based on the 1st information collection apparatus of above-mentioned information collection apparatus, the information that the said fixing sensor goes out are judged the detected object judgment means of detected object and the treating apparatus that the detected object that above-mentioned detected object judgment means is judged is carried out respective handling.
In addition, in the information collection apparatus of the present invention, when the said fixing sensor is made of polytype a plurality of sensors, above-mentioned detected object judgment means can at each detected object the detectability of each fixation of sensor with count corresponding the time, adding up at each detected object, and judge detected object based on the information of this cumulative points and the 1st information collection apparatus gained by detecting counting of unusual fixation of sensor gained.
Embodiment in the detailed description of the invention or embodiment only are for technology contents of the present invention is described, should not only limit to this type of concrete example and explained, in the scope of essence of the present invention and claim item, can be transformed into various forms and implement by narrow sense ground.
The present invention, go for, for example in company, shop, house, detect swarming into of suspicious person and prevent that pilferage from waiting occurrence of crime, and the unusual generation of detection of fires, gas leakage, various installations etc. and the security system of the damage of various establishing devices or the generation of falling etc.
Claims
(according to the modification of the 19th of treaty)
1. information collection apparatus possesses:
The 1st information collection apparatus is equipped on apparatus main body and collection and the pairing information of ambient state; And
The mobile device that apparatus main body is moved,
It is characterized in that, further possesses mobile controller, control described mobile device, make apparatus main body to according to by on the assigned position of apparatus main body outside, fixing 1 and collect the shift position that the information of collecting with the 2nd information collection apparatus of the pairing information of ambient state determines and move at least
Described mobile controller is according to the number that detects the 2nd unusual information collection apparatus on every side, the shift position of determination device main body.
2. a formation gathering method adopts to possess to make the information collection apparatus of the mobile device that moves from device carry out information gathering, it is characterized in that having:
Make above-mentioned information collection apparatus main body to according to by on the assigned position of apparatus main body outside, fixing 1 and collect the step that move shift position that the information of collecting with the 2nd information collection apparatus of the pairing information of ambient state determines at least; And
In described shift position, make the 1st information collection apparatus that is equipped on described information collection apparatus main body collect step with the pairing information of ambient state,
In the step that described information collection apparatus main body is moved, according to the number that detects the 2nd unusual information collection apparatus on every side, the shift position of determination device main body.
3. an information gathering program realizes adopting possessing making the formation gathering method that carries out information gathering from the information collection apparatus that installs the mobile device that moves, and it is characterized in that, makes computing machine carry out following steps:
Make above-mentioned information collection apparatus main body to according to by on the assigned position of apparatus main body outside, fixing 1 and collect the step that move shift position that the information of collecting with the 2nd information collection apparatus of the pairing information of ambient state determines at least; And
In described shift position, make the 1st information collection apparatus that is equipped on described information collection apparatus main body collect step with the pairing information of ambient state,
And in the step that described information collection apparatus main body is moved, according to the number that detects the 2nd unusual information collection apparatus on every side, the shift position of determination device main body.
4. the recording medium of a recorded information collection procedure, this information gathering program are realized adopting possesses the formation gathering method that the information collection apparatus that makes the mobile device that moves from device carries out information gathering, it is characterized in that, makes computing machine carry out following steps:
Make above-mentioned information collection apparatus main body to according to by on the assigned position of apparatus main body outside, fixing 1 and collect the step that move shift position that the information of collecting with the 2nd information collection apparatus of the pairing information of ambient state determines at least; And
In described shift position, make the 1st information collection apparatus that is equipped on described information collection apparatus main body collect step with the pairing information of ambient state,
And in the step that described information collection apparatus main body is moved, according to the number that detects the 2nd unusual information collection apparatus on every side, the shift position of determination device main body.
5. an Information Collection System is characterized in that,
Information collection apparatus be connected with the 2nd information collection apparatus make it possible to communicate,
Described information collection apparatus possesses: the 1st information collection apparatus is equipped on apparatus main body and collection and the pairing information of ambient state; And the mobile device that apparatus main body is moved,
Described information collection apparatus further possesses mobile controller, control described mobile device, make apparatus main body to according to by on the assigned position of apparatus main body outside, fixing 1 and collect the shift position that the information of collecting with the 2nd information collection apparatus of the pairing information of ambient state determines and move at least
Above-mentioned mobile controller basis detects the number of the 2nd unusual information collection apparatus on every side, the shift position of determination device main body,
Described the 2nd information collection apparatus is fixed 1 and collection and the pairing information of ambient state at least on the assigned position of apparatus main body outside.
6. an Information Collection System is characterized in that, information collection apparatus, the 2nd information collection apparatus and control device are connected make it possible to communicate,
Described information collection apparatus possesses: the 1st information collection apparatus is equipped on apparatus main body and collection and the pairing information of ambient state; And the mobile device that apparatus main body is moved,
Described information collection apparatus further possesses mobile controller, control described mobile device, make apparatus main body to according to by on the assigned position of apparatus main body outside, fixing 1 and collect the shift position that the information of collecting with the 2nd information collection apparatus of the pairing information of ambient state determines and move at least
Described the 2nd information collection apparatus is fixed 1 and collection and the pairing information of ambient state at least on the assigned position of apparatus main body outside,
Described control device possesses the shift position determination device, decides the shift position of apparatus main body based on the information of being collected by described the 2nd information collection apparatus, and sends action to described information collection apparatus and indicate, and makes apparatus main body move to this shift position,
Described shift position determination device is according to the number that detects the 2nd unusual information collection apparatus on every side, the shift position of determination device main body.
7. Information Collection System according to claim 6 is characterized in that, described the 2nd information collection apparatus is unusual fixation of sensor around detecting.
8. Information Collection System according to claim 7 is characterized in that, when detecting unusual fixation of sensor and be 1, the shift position determination device of described control device is the shift position to the decision of the allocation position of this fixation of sensor.
9. Information Collection System according to claim 7, it is characterized in that, when to detect unusual fixation of sensor be a plurality of, but the shift position determination device of described control device is the shift position to the decision of the lap of the sensing range of this each fixation of sensor.
10. Information Collection System according to claim 7, it is characterized in that, when to detect unusual fixation of sensor be a plurality of, the center decision that only comprises the circle of this each fixation of sensor during the shift position determination device of described control device distributes 2 dimension configurations of each fixation of sensor was the shift position.

Claims (19)

1. information collection apparatus possesses:
The 1st information collection apparatus is equipped on apparatus main body and collection and the pairing information of ambient state; And
The mobile device that apparatus main body is moved,
It is characterized in that, further possesses mobile controller, control described mobile device, make apparatus main body to according to by on the assigned position of apparatus main body outside, fixing 1 and collect the shift position that the information of collecting with the 2nd information collection apparatus of the pairing information of ambient state determines and move at least.
2. a formation gathering method adopts to possess to make the information collection apparatus of the mobile device that moves from device carry out information gathering, it is characterized in that having:
Make above-mentioned information collection apparatus main body to according to by on the assigned position of apparatus main body outside, fixing 1 and collect the step that move shift position that the information of collecting with the 2nd information collection apparatus of the pairing information of ambient state determines at least; And
In described shift position, make the 1st information collection apparatus that is equipped on described information collection apparatus main body collect step with the pairing information of ambient state.
3. an information gathering program realizes adopting possessing making the formation gathering method that carries out information gathering from the information collection apparatus that installs the mobile device that moves, and it is characterized in that, makes computing machine carry out following steps:
Make above-mentioned information collection apparatus main body to according to by on the assigned position of apparatus main body outside, fixing 1 and collect the step that move shift position that the information of collecting with the 2nd information collection apparatus of the pairing information of ambient state determines at least; And
In described shift position, make the 1st information collection apparatus that is equipped on described information collection apparatus main body collect step with the pairing information of ambient state.
4. the recording medium of a recorded information collection procedure, this information gathering program are realized adopting possesses the formation gathering method that the information collection apparatus that makes the mobile device that moves from device carries out information gathering, it is characterized in that, makes computing machine carry out following steps:
Make above-mentioned information collection apparatus main body to according to by on the assigned position of apparatus main body outside, fixing 1 and collect the step that move shift position that the information of collecting with the 2nd information collection apparatus of the pairing information of ambient state determines at least; And
In described shift position, make the 1st information collection apparatus that is equipped on described information collection apparatus main body collect step with the pairing information of ambient state.
5. an Information Collection System is characterized in that,
Information collection apparatus be connected with the 2nd information collection apparatus make it possible to communicate,
Described information collection apparatus possesses: the 1st information collection apparatus is equipped on apparatus main body and collection and the pairing information of ambient state; And the mobile device that apparatus main body is moved,
Described information collection apparatus further possesses mobile controller, control described mobile device, make apparatus main body to according to by on the assigned position of apparatus main body outside, fixing 1 and collect the shift position that the information of collecting with the 2nd information collection apparatus of the pairing information of ambient state determines and move at least
Described the 2nd information collection apparatus is fixed 1 and collection and the pairing information of ambient state at least on the assigned position of apparatus main body outside.
6. an Information Collection System is characterized in that, information collection apparatus, the 2nd information collection apparatus and control device are connected make it possible to communicate,
Described information collection apparatus possesses: the 1st information collection apparatus is equipped on apparatus main body and collection and the pairing information of ambient state; And the mobile device that apparatus main body is moved,
Described information collection apparatus further possesses mobile controller, control described mobile device, make apparatus main body to according to by on the assigned position of apparatus main body outside, fixing 1 and collect the shift position that the information of collecting with the 2nd information collection apparatus of the pairing information of ambient state determines and move at least
Described the 2nd information collection apparatus is fixed 1 and collection and the pairing information of ambient state at least on the assigned position of apparatus main body outside,
Described control device possesses the shift position determination device, decides the shift position of apparatus main body based on the information of being collected by described the 2nd information collection apparatus, and sends action to described information collection apparatus and indicate, and makes apparatus main body move to this shift position.
7. Information Collection System according to claim 6 is characterized in that, described the 2nd information collection apparatus is unusual fixation of sensor around detecting.
8. Information Collection System according to claim 7 is characterized in that, when detecting unusual fixation of sensor and be 1, the shift position determination device of described control device is the shift position to the decision of the allocation position of this fixation of sensor.
9. Information Collection System according to claim 7, it is characterized in that, when to detect unusual fixation of sensor be a plurality of, but the shift position determination device of described control device is the shift position to the decision of the lap of the sensing range of this each fixation of sensor.
10. Information Collection System according to claim 7, it is characterized in that, when to detect unusual fixation of sensor be a plurality of, the center decision that only comprises the circle of this each fixation of sensor during the shift position determination device of described control device distributes 2 dimension configurations of each fixation of sensor was the shift position.
11. Information Collection System according to claim 7, it is characterized in that, when to detect unusual fixation of sensor be a plurality of, the output valve that the shift position determination device of described control device promptly changes with intensity of anomaly based on the output valve of this fixation of sensor, obtain the distance of each fixation of sensor to detected object, thereby judge the position of detected object, and be this determining positions the shift position of apparatus main body.
12. according to each the described Information Collection System in the claim 7 to 11, it is characterized in that, described control device further possesses the detected object judgment means, based on the information of being collected by the 1st information collection apparatus of described information collection apparatus, judges the detected object of described fixation of sensor.
13. according to each the described Information Collection System in the claim 7 to 11, it is characterized in that, described control device further possesses the detected object judgment means, based on information of collecting and the information that detects by described fixation of sensor, judge the detected object of described fixation of sensor by the 1st information collection apparatus of described information collection apparatus.
14. according to claim 12 or 13 described Information Collection Systems, it is characterized in that described information collection apparatus further possesses treating apparatus, the detected object of being judged by described detected object judgment means carried out respective handling.
15. Information Collection System according to claim 13, it is characterized in that, when described fixation of sensor is made of polytype a plurality of sensors, described detected object judgment means is at each detected object, the detectability that makes each fixation of sensor with count corresponding the time, by detecting counting of drawing in the unusual fixation of sensor, and, judge detected object based on this cumulative points and the information that draws by the 1st information collection apparatus at each detected object accumulative total.
16. each the described Information Collection System according in the claim 7 to 15 is characterized in that, a plurality of described fixation of sensor are set, and selects and be provided with and detect corresponding type of order and configuration simultaneously.
17. an information collection apparatus, possess be equipped on apparatus main body and with the 1st information collection apparatus of collecting the pairing information of ambient state, it is characterized in that,
Further possesses whirligig, when having collected with the pairing information of ambient state by the 2nd information collection apparatus of on the assigned position of apparatus main body outside, fixing 1 at least, according to the information of collecting, make described apparatus main body rotation by described the 2nd information collection apparatus.
18. an Information Collection System is characterized in that,
Information collection apparatus be connected with the 2nd information collection apparatus make it possible to communicate,
Described information collection apparatus possesses the 1st information collection apparatus, is equipped on apparatus main body and collection and the pairing information of ambient state,
Described information collection apparatus further possesses whirligig, when having collected with the pairing information of ambient state by the 2nd information collection apparatus of on the assigned position of apparatus main body outside, fixing 1 at least, according to the information of collecting, make described apparatus main body rotation by described the 2nd information collection apparatus
Described the 2nd information collection apparatus is fixed 1 and collection and the pairing information of ambient state at least on the assigned position of apparatus main body outside.
19. an Information Collection System is characterized in that,
Information collection apparatus, the 2nd information collection apparatus and control device connected make it possible to communicate,
Described information collection apparatus possesses the 1st information collection apparatus, is equipped on apparatus main body and collection and the pairing information of ambient state,
Described information collection apparatus further possesses whirligig, when having collected with the pairing information of ambient state by the 2nd information collection apparatus of on the assigned position of apparatus main body outside, fixing 1 at least, according to the information of collecting, make described apparatus main body rotation by described the 2nd information collection apparatus
Described the 2nd information collection apparatus is fixed 1 and collection and the pairing information of ambient state at least on the assigned position of apparatus main body outside,
Described control device sends the action indication according to the information of being collected by described the 2nd information collection apparatus to described information collection apparatus, makes the whirligig of described information collection apparatus make the apparatus main body rotation.
CNB028154908A 2001-08-07 2002-08-02 Information collection apparatus, informaton collection method, information collection program, recording medium containing information collection program, and information collection system Expired - Fee Related CN100341033C (en)

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